The Red DRAGON: A Multi-Modality System for Simulation and Training in Minimally Invasive Surgery
The Red DRAGON: A Multi-Modality System for Simulation and Training in Minimally Invasive Surgery
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Red DRAGON：用于微创手术模拟和训练的多模态系统
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
M. Sinanan
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文献类型：
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作者：
Scott Gunther;J. Rosen;B. Hannaford;M. Sinanan
随着外科新技术的发展，微创手术（MIS）大大改善了传统医疗程序的执行方式。然而，一个新的学习曲线已经导致需要在整合视觉信息与手术工具的运动学和动力学的专业知识。Red DRAGON是一款用于教学和培训MIS程序的多模式模拟器，允许使用者将其与多种模式一起使用，包括：模拟器（物理对象和虚拟对象）和动物模型。Red DRAGON系统基于串联球形机构，其中所有旋转轴在单个点（远程中心）相交，允许内窥镜工具围绕MIS端口旋转。该系统包括两个机制，其中包含两个可互换的MIS工具。传感器被结合到机构中，并且工具测量手术工具的位置和方向以及由外科医生施加在工具上的力和扭矩。该设计是基于一个机构优化，以最大限度地提高该机构在MIS工作空间的可操作性。作为初步实验方案的一部分，五名专家级外科医生执行了三项腹腔镜任务-基本腹腔镜技能（FLS）的一个子集，作为技能评估方案的基线。结果提供了一个深入的运动学和动力学的内窥镜工具，作为客观评估MIS技能的基本措施。
With the development of new technologies in surgery, minimally invasive surgery (MIS) has drastically improved the way conventional medical procedures are performed. However, a new learning curve has resulted requiring an expertise in integrating visual information with the kinematics and dynamics of the surgical tools. The Red DRAGON is a multi-modal simulator for teaching and training MIS procedures allowing one to use it with several modalities including: simulator (physical objects and virtual objects) and an animal model. The Red DRAGON system is based on a serial spherical mechanism in which all the rotation axes intersect at a single point (remote center) allowing the endoscopic tools to pivot around the MIS port. The system includes two mechanisms that incorporate two interchangeable MIS tools. Sensors are incorporated into the mechanism and the tools measure the positions and orientations of the surgical tools as well as forces and torques applied on the tools by the surgeon. The design is based on a mechanism optimization to maximize the manipulability of the mechanism in the MIS workspace. As part of a preliminary experimental protocol, five expert level surgeons performed three laparoscopic tasks--a subset of the Fundamental Laparoscopic Skill (FLS) set as a baseline for skill assessment protocols. The results provide an insight into the kinematics and dynamics of the endoscopic tools, as the underlying measures for objectively assessing MIS skills.